![](/images/graphics-bg.png)
Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter
Joint Authors
Song, Shijie
Gong, Dawei
Dai, Xiaolin
Huang, Zhangchao
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-11-27
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
Load is the main external disturbance of a parallel robot manipulator.
This disturbance will cause dynamic coupling among different degrees of freedom and make heaps of model-based control methods difficult to apply.
In order to compensate this disturbance, it is crucial to obtain an accurate dynamic model of load.
However, in practice, the load is always uncertain and its dynamic parameters are arduous to know a priori.
To cope with this problem, this paper proposes a novel and simple approach to identify the dynamic parameters of load.
Firstly, the dynamic model of the parallel robot manipulator with uncertain load is established and the dynamic coupling caused by load is also analyzed.
Then, according to the dynamic model, the excitation signal is designed and a weak nonlinear dynamic model is derived.
Furthermore, the identification model is presented and the identification algorithm based on the extended Kalman filter is designed.
Lastly, numerical simulation results, obtained using a six-degree-of-freedom Gough–Stewart parallel manipulator, demonstrate the good estimation performance of the proposed method.
American Psychological Association (APA)
Song, Shijie& Dai, Xiaolin& Huang, Zhangchao& Gong, Dawei. 2020. Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter. Complexity،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1144631
Modern Language Association (MLA)
Song, Shijie…[et al.]. Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter. Complexity No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1144631
American Medical Association (AMA)
Song, Shijie& Dai, Xiaolin& Huang, Zhangchao& Gong, Dawei. Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter. Complexity. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1144631
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1144631